gazebo::GazeboRosApiPlugin Class Reference

A plugin loaded within the gzserver on startup. More...

#include <gazebo_ros_api_plugin.h>

Inheritance diagram for gazebo::GazeboRosApiPlugin:

Classes
class	ForceJointJob
class	WrenchBodyJob

Public Member Functions
void	advertiseServices ()
	advertise services More...
bool	applyBodyWrench (gazebo_msgs::ApplyBodyWrench::Request &req, gazebo_msgs::ApplyBodyWrench::Response &res)
bool	applyJointEffort (gazebo_msgs::ApplyJointEffort::Request &req, gazebo_msgs::ApplyJointEffort::Response &res)
bool	clearBodyWrenches (gazebo_msgs::BodyRequest::Request &req, gazebo_msgs::BodyRequest::Response &res)
bool	clearBodyWrenches (std::string body_name)
bool	clearJointForces (gazebo_msgs::JointRequest::Request &req, gazebo_msgs::JointRequest::Response &res)
bool	clearJointForces (std::string joint_name)
bool	deleteLight (gazebo_msgs::DeleteLight::Request &req, gazebo_msgs::DeleteLight::Response &res)
	delete a given light by name More...
bool	deleteModel (gazebo_msgs::DeleteModel::Request &req, gazebo_msgs::DeleteModel::Response &res)
	delete model given name More...
void	gazeboQueueThread ()
	ros queue thread for this node More...
	GazeboRosApiPlugin ()
	Constructor. More...
bool	getJointProperties (gazebo_msgs::GetJointProperties::Request &req, gazebo_msgs::GetJointProperties::Response &res)
bool	getLightProperties (gazebo_msgs::GetLightProperties::Request &req, gazebo_msgs::GetLightProperties::Response &res)
bool	getLinkProperties (gazebo_msgs::GetLinkProperties::Request &req, gazebo_msgs::GetLinkProperties::Response &res)
bool	getLinkState (gazebo_msgs::GetLinkState::Request &req, gazebo_msgs::GetLinkState::Response &res)
bool	getModelProperties (gazebo_msgs::GetModelProperties::Request &req, gazebo_msgs::GetModelProperties::Response &res)
bool	getModelState (gazebo_msgs::GetModelState::Request &req, gazebo_msgs::GetModelState::Response &res)
bool	getPhysicsProperties (gazebo_msgs::GetPhysicsProperties::Request &req, gazebo_msgs::GetPhysicsProperties::Response &res)
bool	getWorldProperties (gazebo_msgs::GetWorldProperties::Request &req, gazebo_msgs::GetWorldProperties::Response &res)
void	Load (int argc, char **argv)
	Gazebo-inherited load function. More...
void	onLinkStatesConnect ()
	Callback for a subscriber connecting to LinkStates ros topic. More...
void	onLinkStatesDisconnect ()
	Callback for a subscriber disconnecting from LinkStates ros topic. More...
void	onModelStatesConnect ()
	Callback for a subscriber connecting to ModelStates ros topic. More...
void	onModelStatesDisconnect ()
	Callback for a subscriber disconnecting from ModelStates ros topic. More...
bool	pausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetSimulation (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetWorld (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	setJointProperties (gazebo_msgs::SetJointProperties::Request &req, gazebo_msgs::SetJointProperties::Response &res)
bool	setLightProperties (gazebo_msgs::SetLightProperties::Request &req, gazebo_msgs::SetLightProperties::Response &res)
bool	setLinkProperties (gazebo_msgs::SetLinkProperties::Request &req, gazebo_msgs::SetLinkProperties::Response &res)
bool	setLinkState (gazebo_msgs::SetLinkState::Request &req, gazebo_msgs::SetLinkState::Response &res)
bool	setModelConfiguration (gazebo_msgs::SetModelConfiguration::Request &req, gazebo_msgs::SetModelConfiguration::Response &res)
bool	setModelState (gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res)
bool	setPhysicsProperties (gazebo_msgs::SetPhysicsProperties::Request &req, gazebo_msgs::SetPhysicsProperties::Response &res)
void	shutdownSignal ()
	Detect if sig-int shutdown signal is recieved More...
bool	spawnSDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
	Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call. More...
bool	spawnURDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
	Function for inserting a URDF into Gazebo from ROS Service Call. More...
bool	unpausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	updateLinkState (const gazebo_msgs::LinkState::ConstPtr &link_state)
void	updateModelState (const gazebo_msgs::ModelState::ConstPtr &model_state)
	~GazeboRosApiPlugin ()
	Destructor. More...

Private Member Functions
void	forceJointSchedulerSlot ()
bool	isSDF (std::string model_xml)
	utility for checking if string is in SDF format More...
bool	isURDF (std::string model_xml)
	utility for checking if string is in URDF format More...
void	loadGazeboRosApiPlugin (std::string world_name)
	Connect to Gazebo via its plugin interface, get a pointer to the world, start events. More...
void	onResponse (ConstResponsePtr &response)
	Unused. More...
ignition::math::Pose3d	parsePose (const std::string &str)
	convert xml to Pose More...
ignition::math::Vector3d	parseVector3 (const std::string &str)
	convert xml to Pose More...
void	physicsReconfigureCallback (gazebo_ros::PhysicsConfig &config, uint32_t level)
	Used for the dynamic reconfigure callback function template. More...
void	physicsReconfigureThread ()
	waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services More...
void	publishLinkStates ()
void	publishModelStates ()
void	publishSimTime (const boost::shared_ptr< gazebo::msgs::WorldStatistics const > &msg)
void	publishSimTime ()
bool	spawnAndConform (TiXmlDocument &gazebo_model_xml, const std::string &model_name, gazebo_msgs::SpawnModel::Response &res)
void	stripXmlDeclaration (std::string &model_xml)
void	transformWrench (ignition::math::Vector3d &target_force, ignition::math::Vector3d &target_torque, const ignition::math::Vector3d &reference_force, const ignition::math::Vector3d &reference_torque, const ignition::math::Pose3d &target_to_reference)
	helper function for applyBodyWrench shift wrench from reference frame to target frame More...
void	updateSDFAttributes (TiXmlDocument &gazebo_model_xml, const std::string &model_name, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q)
	Update the model name and pose of the SDF file before sending to Gazebo. More...
void	updateURDFModelPose (TiXmlDocument &gazebo_model_xml, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q)
	Update the model pose of the URDF file before sending to Gazebo. More...
void	updateURDFName (TiXmlDocument &gazebo_model_xml, const std::string &model_name)
	Update the model name of the URDF file before sending to Gazebo. More...
void	walkChildAddRobotNamespace (TiXmlNode *model_xml)
void	wrenchBodySchedulerSlot ()

Private Attributes
std::map< std::string, unsigned int >	access_count_get_model_state_
	index counters to count the accesses on models via GetModelState More...
ros::ServiceServer	apply_body_wrench_service_
ros::ServiceServer	apply_joint_effort_service_
boost::shared_ptr< ros::AsyncSpinner >	async_ros_spin_
ros::ServiceServer	clear_body_wrenches_service_
ros::ServiceServer	clear_joint_forces_service_
ros::ServiceServer	delete_light_service_
ros::ServiceServer	delete_model_service_
gazebo::transport::PublisherPtr	factory_light_pub_
gazebo::transport::PublisherPtr	factory_pub_
std::vector< GazeboRosApiPlugin::ForceJointJob * >	force_joint_jobs_
gazebo::event::ConnectionPtr	force_update_event_
boost::shared_ptr< boost::thread >	gazebo_callback_queue_thread_
ros::CallbackQueue	gazebo_queue_
gazebo::transport::NodePtr	gazebonode_
ros::ServiceServer	get_joint_properties_service_
ros::ServiceServer	get_light_properties_service_
ros::ServiceServer	get_link_properties_service_
ros::ServiceServer	get_link_state_service_
ros::ServiceServer	get_model_properties_service_
ros::ServiceServer	get_model_state_service_
ros::ServiceServer	get_physics_properties_service_
ros::ServiceServer	get_world_properties_service_
gazebo::common::Time	last_pub_clock_time_
gazebo::transport::PublisherPtr	light_modify_pub_
gazebo::event::ConnectionPtr	load_gazebo_ros_api_plugin_event_
boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks. More...
boost::shared_ptr< ros::NodeHandle >	nh_
ros::ServiceServer	pause_physics_service_
gazebo::transport::SubscriberPtr	performance_metric_sub_
dynamic_reconfigure::Server< gazebo_ros::PhysicsConfig >::CallbackType	physics_reconfigure_callback_
ros::ServiceClient	physics_reconfigure_get_client_
bool	physics_reconfigure_initialized_
ros::ServiceClient	physics_reconfigure_set_client_
boost::shared_ptr< dynamic_reconfigure::Server< gazebo_ros::PhysicsConfig > >	physics_reconfigure_srv_
boost::shared_ptr< boost::thread >	physics_reconfigure_thread_
bool	plugin_loaded_
ros::Publisher	pub_clock_
int	pub_clock_frequency_
ros::Publisher	pub_link_states_
int	pub_link_states_connection_count_
gazebo::event::ConnectionPtr	pub_link_states_event_
ros::Publisher	pub_model_states_
int	pub_model_states_connection_count_
gazebo::event::ConnectionPtr	pub_model_states_event_
ros::Publisher	pub_performance_metrics_
int	pub_performance_metrics_connection_count_
gazebo::transport::PublisherPtr	request_pub_
ros::ServiceServer	reset_simulation_service_
ros::ServiceServer	reset_world_service_
gazebo::transport::SubscriberPtr	response_sub_
std::string	robot_namespace_
ros::ServiceServer	set_joint_properties_service_
ros::ServiceServer	set_light_properties_service_
ros::ServiceServer	set_link_properties_service_
ros::ServiceServer	set_link_state_service_
ros::Subscriber	set_link_state_topic_
ros::ServiceServer	set_model_configuration_service_
ros::ServiceServer	set_model_state_service_
ros::Subscriber	set_model_state_topic_
ros::ServiceServer	set_physics_properties_service_
gazebo::event::ConnectionPtr	sigint_event_
ros::ServiceServer	spawn_sdf_model_service_
ros::ServiceServer	spawn_urdf_model_service_
gazebo::transport::SubscriberPtr	stat_sub_
bool	stop_
gazebo::event::ConnectionPtr	time_update_event_
ros::ServiceServer	unpause_physics_service_
gazebo::physics::WorldPtr	world_
bool	world_created_
std::vector< GazeboRosApiPlugin::WrenchBodyJob * >	wrench_body_jobs_
gazebo::event::ConnectionPtr	wrench_update_event_

Detailed Description

A plugin loaded within the gzserver on startup.

Definition at line 115 of file gazebo_ros_api_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboRosApiPlugin::GazeboRosApiPlugin

(

)

Constructor.

Definition at line 30 of file gazebo_ros_api_plugin.cpp.

gazebo::GazeboRosApiPlugin::~GazeboRosApiPlugin

(

)

Destructor.

Definition at line 43 of file gazebo_ros_api_plugin.cpp.

Member Function Documentation

void gazebo::GazeboRosApiPlugin::advertiseServices

(

)

advertise services

Definition at line 246 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::applyBodyWrench	(	gazebo_msgs::ApplyBodyWrench::Request &	req,
		gazebo_msgs::ApplyBodyWrench::Response &	res
	)

shift wrench to body frame if a non-zero reference point is given

Todo:

: to be more general, should we make the reference point a reference pose?

Todo:

: FIXME map is really wrong, need to use tf here somehow

Definition at line 1907 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::applyJointEffort	(	gazebo_msgs::ApplyJointEffort::Request &	req,
		gazebo_msgs::ApplyJointEffort::Response &	res
	)

Definition at line 1638 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches	(	gazebo_msgs::BodyRequest::Request &	req,
		gazebo_msgs::BodyRequest::Response &	res
	)

Definition at line 1732 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches

(

std::string

body_name

)

Definition at line 1737 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearJointForces	(	gazebo_msgs::JointRequest::Request &	req,
		gazebo_msgs::JointRequest::Response &	res
	)

Definition at line 1704 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearJointForces

(

std::string

joint_name

)

Definition at line 1709 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::deleteLight	(	gazebo_msgs::DeleteLight::Request &	req,
		gazebo_msgs::DeleteLight::Response &	res
	)

delete a given light by name

Definition at line 876 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::deleteModel	(	gazebo_msgs::DeleteModel::Request &	req,
		gazebo_msgs::DeleteModel::Response &	res
	)

delete model given name

Definition at line 805 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::forceJointSchedulerSlot ( )

private

Definition at line 2104 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::gazeboQueueThread

(

)

ros queue thread for this node

Definition at line 237 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getJointProperties	(	gazebo_msgs::GetJointProperties::Request &	req,
		gazebo_msgs::GetJointProperties::Response &	res
	)

Todo:

: FIXME

Definition at line 1118 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getLightProperties	(	gazebo_msgs::GetLightProperties::Request &	req,
		gazebo_msgs::GetLightProperties::Response &	res
	)

Definition at line 1302 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getLinkProperties	(	gazebo_msgs::GetLinkProperties::Request &	req,
		gazebo_msgs::GetLinkProperties::Response &	res
	)

Todo:

: validate

Definition at line 1164 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getLinkState	(	gazebo_msgs::GetLinkState::Request &	req,
		gazebo_msgs::GetLinkState::Response &	res
	)

Todo:

: FIXME map is really wrong, need to use tf here somehow

Definition at line 1222 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getModelProperties	(	gazebo_msgs::GetModelProperties::Request &	req,
		gazebo_msgs::GetModelProperties::Response &	res
	)

Definition at line 1032 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getModelState	(	gazebo_msgs::GetModelState::Request &	req,
		gazebo_msgs::GetModelState::Response &	res
	)

creates a header for the result

Author

Markus Bader marku.nosp@m.s.ba.nosp@m.der@t.nosp@m.uwie.nosp@m.n.ac..nosp@m.at

Date

21th Nov 2014

this is a redundant information

Todo:

: FIXME map is really wrong, need to use tf here somehow

Definition at line 923 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getPhysicsProperties	(	gazebo_msgs::GetPhysicsProperties::Request &	req,
		gazebo_msgs::GetPhysicsProperties::Response &	res
	)

: add support for simbody, dart and bullet physics properties.

Definition at line 1450 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getWorldProperties	(	gazebo_msgs::GetWorldProperties::Request &	req,
		gazebo_msgs::GetWorldProperties::Response &	res
	)

Definition at line 1098 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::isSDF ( std::string  model_xml )

private

utility for checking if string is in SDF format

Definition at line 2053 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::isURDF ( std::string  model_xml )

private

utility for checking if string is in URDF format

Definition at line 2043 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::Load	(	int	argc,
		char **	argv
	)

Gazebo-inherited load function.

Called before Gazebo is loaded. Must not block. Capitalized per Gazebo cpp style guidelines

Parameters

_argc	Number of command line arguments.
_argv	Array of command line arguments.

setup custom callback queue

start a thread for the physics dynamic reconfigure node

Definition at line 114 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::loadGazeboRosApiPlugin ( std::string  world_name )

private

Connect to Gazebo via its plugin interface, get a pointer to the world, start events.

advertise all services

Definition at line 160 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onLinkStatesConnect

(

)

Callback for a subscriber connecting to LinkStates ros topic.

Definition at line 554 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onLinkStatesDisconnect

(

)

Callback for a subscriber disconnecting from LinkStates ros topic.

Definition at line 591 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onModelStatesConnect

(

)

Callback for a subscriber connecting to ModelStates ros topic.

Definition at line 561 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onModelStatesDisconnect

(

)

Callback for a subscriber disconnecting from ModelStates ros topic.

Definition at line 602 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onResponse ( ConstResponsePtr &  response )

private

Unused.

Definition at line 205 of file gazebo_ros_api_plugin.cpp.

ignition::math::Pose3d gazebo::GazeboRosApiPlugin::parsePose ( const std::string &  str )

private

convert xml to Pose

Definition at line 2479 of file gazebo_ros_api_plugin.cpp.

ignition::math::Vector3d gazebo::GazeboRosApiPlugin::parseVector3 ( const std::string &  str )

private

convert xml to Pose

Definition at line 2512 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::pausePhysics	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1692 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::physicsReconfigureCallback ( gazebo_ros::PhysicsConfig &  config, uint32_t  level  )

private

Used for the dynamic reconfigure callback function template.

Definition at line 2280 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::physicsReconfigureThread ( )

private

waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services

Definition at line 2353 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishLinkStates ( )

private

Definition at line 2179 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishModelStates ( )

private

Definition at line 2236 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishSimTime ( const boost::shared_ptr< gazebo::msgs::WorldStatistics const > &  msg )

private

Definition at line 2139 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishSimTime ( )

private

Definition at line 2157 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::resetSimulation	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1680 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::resetWorld	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1686 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setJointProperties	(	gazebo_msgs::SetJointProperties::Request &	req,
		gazebo_msgs::SetJointProperties::Response &	res
	)

Todo:

: current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly.

Definition at line 1502 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setLightProperties	(	gazebo_msgs::SetLightProperties::Request &	req,
		gazebo_msgs::SetLightProperties::Response &	res
	)

Definition at line 1336 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setLinkProperties	(	gazebo_msgs::SetLinkProperties::Request &	req,
		gazebo_msgs::SetLinkProperties::Response &	res
	)

Definition at line 1373 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setLinkState	(	gazebo_msgs::SetLinkState::Request &	req,
		gazebo_msgs::SetLinkState::Response &	res
	)

Todo:

: FIXME map is really wrong, unless using tf here somehow

Definition at line 1809 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setModelConfiguration	(	gazebo_msgs::SetModelConfiguration::Request &	req,
		gazebo_msgs::SetModelConfiguration::Response &	res
	)

Definition at line 1761 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setModelState	(	gazebo_msgs::SetModelState::Request &	req,
		gazebo_msgs::SetModelState::Response &	res
	)

Todo:

: FIXME map is really wrong, need to use tf here somehow

Definition at line 1554 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setPhysicsProperties	(	gazebo_msgs::SetPhysicsProperties::Request &	req,
		gazebo_msgs::SetPhysicsProperties::Response &	res
	)

: add support for simbody, dart and bullet physics properties.

Definition at line 1403 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::shutdownSignal

(

)

Detect if sig-int shutdown signal is recieved

Definition at line 108 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnAndConform ( TiXmlDocument &  gazebo_model_xml, const std::string &  model_name, gazebo_msgs::SpawnModel::Response &  res  )

private

FIXME: should change publish to direct invocation World::LoadModel() and/or change the poll for Model existence to common::Events based check.

poll and wait, verify that the model is spawned within Hardcoded 10 seconds

Definition at line 2639 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnSDFModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)

Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call.

Todo:

: map is really wrong, need to use tf here somehow

Definition at line 692 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnURDFModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)

Function for inserting a URDF into Gazebo from ROS Service Call.

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:

: does tinyxml have functionality for this?

Todo:

: should gazebo take care of the declaration?

Definition at line 613 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::stripXmlDeclaration ( std::string &  model_xml )

private

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:

: does tinyxml have functionality for this?

Todo:

: should gazebo take care of the declaration?

Definition at line 2370 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::transformWrench ( ignition::math::Vector3d &  target_force, ignition::math::Vector3d &  target_torque, const ignition::math::Vector3d &  reference_force, const ignition::math::Vector3d &  reference_torque, const ignition::math::Pose3d &  target_to_reference  )

private

helper function for applyBodyWrench shift wrench from reference frame to target frame

Definition at line 1893 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::unpausePhysics	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1698 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateLinkState

(

const gazebo_msgs::LinkState::ConstPtr &

link_state

)

Definition at line 1885 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateModelState

(

const gazebo_msgs::ModelState::ConstPtr &

model_state

)

Definition at line 1630 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateSDFAttributes ( TiXmlDocument &  gazebo_model_xml, const std::string &  model_name, const ignition::math::Vector3d &  initial_xyz, const ignition::math::Quaterniond &  initial_q  )

private

Update the model name and pose of the SDF file before sending to Gazebo.

Definition at line 2384 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateURDFModelPose ( TiXmlDocument &  gazebo_model_xml, const ignition::math::Vector3d &  initial_xyz, const ignition::math::Quaterniond &  initial_q  )

private

Update the model pose of the URDF file before sending to Gazebo.

Definition at line 2545 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateURDFName ( TiXmlDocument &  gazebo_model_xml, const std::string &  model_name  )

private

Update the model name of the URDF file before sending to Gazebo.

Definition at line 2593 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::walkChildAddRobotNamespace ( TiXmlNode *  model_xml )

private

Definition at line 2611 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::wrenchBodySchedulerSlot ( )

private

Definition at line 2065 of file gazebo_ros_api_plugin.cpp.

Member Data Documentation

std::map<std::string, unsigned int> gazebo::GazeboRosApiPlugin::access_count_get_model_state_

private

index counters to count the accesses on models via GetModelState

Definition at line 438 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_body_wrench_service_

private

Definition at line 374 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_joint_effort_service_

private

Definition at line 377 of file gazebo_ros_api_plugin.h.

boost::shared_ptr<ros::AsyncSpinner> gazebo::GazeboRosApiPlugin::async_ros_spin_

private

Definition at line 396 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_body_wrenches_service_

private

Definition at line 385 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_joint_forces_service_

private

Definition at line 384 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_light_service_

private

Definition at line 362 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_model_service_

private

Definition at line 361 of file gazebo_ros_api_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_light_pub_

private

Definition at line 341 of file gazebo_ros_api_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_pub_

private

Definition at line 340 of file gazebo_ros_api_plugin.h.

std::vector<GazeboRosApiPlugin::ForceJointJob*> gazebo::GazeboRosApiPlugin::force_joint_jobs_

private

Definition at line 435 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::force_update_event_

private

Definition at line 353 of file gazebo_ros_api_plugin.h.

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::gazebo_callback_queue_thread_

private

Definition at line 349 of file gazebo_ros_api_plugin.h.

ros::CallbackQueue gazebo::GazeboRosApiPlugin::gazebo_queue_

private

Definition at line 348 of file gazebo_ros_api_plugin.h.

gazebo::transport::NodePtr gazebo::GazeboRosApiPlugin::gazebonode_

private

Definition at line 338 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_joint_properties_service_

private

Definition at line 366 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_light_properties_service_

private

Definition at line 369 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_properties_service_

private

Definition at line 367 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_state_service_

private

Definition at line 368 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_properties_service_

private

Definition at line 364 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_state_service_

private

Definition at line 363 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_physics_properties_service_

private

Definition at line 373 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_world_properties_service_

private

Definition at line 365 of file gazebo_ros_api_plugin.h.

gazebo::common::Time gazebo::GazeboRosApiPlugin::last_pub_clock_time_

private

Definition at line 408 of file gazebo_ros_api_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::light_modify_pub_

private

Definition at line 342 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::load_gazebo_ros_api_plugin_event_

private

Definition at line 357 of file gazebo_ros_api_plugin.h.

boost::mutex gazebo::GazeboRosApiPlugin::lock_

private

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 411 of file gazebo_ros_api_plugin.h.

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRosApiPlugin::nh_

private

Definition at line 347 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::pause_physics_service_

private

Definition at line 382 of file gazebo_ros_api_plugin.h.

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::performance_metric_sub_

private

Definition at line 343 of file gazebo_ros_api_plugin.h.

dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig>::CallbackType gazebo::GazeboRosApiPlugin::physics_reconfigure_callback_

private

Definition at line 404 of file gazebo_ros_api_plugin.h.

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_get_client_

private

Definition at line 402 of file gazebo_ros_api_plugin.h.

bool gazebo::GazeboRosApiPlugin::physics_reconfigure_initialized_

private

Definition at line 400 of file gazebo_ros_api_plugin.h.

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_set_client_

private

Definition at line 401 of file gazebo_ros_api_plugin.h.

boost::shared_ptr< dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig> > gazebo::GazeboRosApiPlugin::physics_reconfigure_srv_

private

Definition at line 403 of file gazebo_ros_api_plugin.h.

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::physics_reconfigure_thread_

private

Definition at line 399 of file gazebo_ros_api_plugin.h.

bool gazebo::GazeboRosApiPlugin::plugin_loaded_

private

Definition at line 330 of file gazebo_ros_api_plugin.h.

ros::Publisher gazebo::GazeboRosApiPlugin::pub_clock_

private

Definition at line 406 of file gazebo_ros_api_plugin.h.

int gazebo::GazeboRosApiPlugin::pub_clock_frequency_

private

Definition at line 407 of file gazebo_ros_api_plugin.h.

ros::Publisher gazebo::GazeboRosApiPlugin::pub_link_states_

private

Definition at line 388 of file gazebo_ros_api_plugin.h.

int gazebo::GazeboRosApiPlugin::pub_link_states_connection_count_

private

Definition at line 391 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_link_states_event_

private

Definition at line 355 of file gazebo_ros_api_plugin.h.

ros::Publisher gazebo::GazeboRosApiPlugin::pub_model_states_

private

Definition at line 389 of file gazebo_ros_api_plugin.h.

int gazebo::GazeboRosApiPlugin::pub_model_states_connection_count_

private

Definition at line 392 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_model_states_event_

private

Definition at line 356 of file gazebo_ros_api_plugin.h.

ros::Publisher gazebo::GazeboRosApiPlugin::pub_performance_metrics_

private

Definition at line 390 of file gazebo_ros_api_plugin.h.

int gazebo::GazeboRosApiPlugin::pub_performance_metrics_connection_count_

private

Definition at line 393 of file gazebo_ros_api_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::request_pub_

private

Definition at line 344 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_simulation_service_

private

Definition at line 380 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_world_service_

private

Definition at line 381 of file gazebo_ros_api_plugin.h.

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::response_sub_

private

Definition at line 345 of file gazebo_ros_api_plugin.h.

std::string gazebo::GazeboRosApiPlugin::robot_namespace_

private

Definition at line 336 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_joint_properties_service_

private

Definition at line 375 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_light_properties_service_

private

Definition at line 370 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_properties_service_

private

Definition at line 371 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_state_service_

private

Definition at line 379 of file gazebo_ros_api_plugin.h.

ros::Subscriber gazebo::GazeboRosApiPlugin::set_link_state_topic_

private

Definition at line 386 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_configuration_service_

private

Definition at line 378 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_state_service_

private

Definition at line 376 of file gazebo_ros_api_plugin.h.

ros::Subscriber gazebo::GazeboRosApiPlugin::set_model_state_topic_

private

Definition at line 387 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_physics_properties_service_

private

Definition at line 372 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::sigint_event_

private

Definition at line 334 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_sdf_model_service_

private

Definition at line 359 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_urdf_model_service_

private

Definition at line 360 of file gazebo_ros_api_plugin.h.

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::stat_sub_

private

Definition at line 339 of file gazebo_ros_api_plugin.h.

bool gazebo::GazeboRosApiPlugin::stop_

private

Definition at line 333 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::time_update_event_

private

Definition at line 354 of file gazebo_ros_api_plugin.h.

ros::ServiceServer gazebo::GazeboRosApiPlugin::unpause_physics_service_

private

Definition at line 383 of file gazebo_ros_api_plugin.h.

gazebo::physics::WorldPtr gazebo::GazeboRosApiPlugin::world_

private

Definition at line 351 of file gazebo_ros_api_plugin.h.

bool gazebo::GazeboRosApiPlugin::world_created_

private

Definition at line 413 of file gazebo_ros_api_plugin.h.

std::vector<GazeboRosApiPlugin::WrenchBodyJob*> gazebo::GazeboRosApiPlugin::wrench_body_jobs_

private

Definition at line 434 of file gazebo_ros_api_plugin.h.

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::wrench_update_event_

private

Definition at line 352 of file gazebo_ros_api_plugin.h.

---

The documentation for this class was generated from the following files:

• gazebo_ros_api_plugin.h
• gazebo_ros_api_plugin.cpp